From bf003cd191abeafb1c31a7a24aa573b7a20e527e Mon Sep 17 00:00:00 2001
From: Olivier Matz <zer0@droids-corp.org>
Date: Tue, 15 Oct 2013 22:24:08 +0200
Subject: [PATCH] introoduce spi_servo_dump()
---
commands.c | 21 +++++++--------------
spi_servo.c | 11 +++++++++++
spi_servo.h | 1 +
3 files changed, 19 insertions(+), 14 deletions(-)
diff --git a/commands.c b/commands.c
index ce85088..c9d415f 100644
--- a/commands.c
+++ b/commands.c
@@ -1313,7 +1313,6 @@ struct cmd_servo_result {
static void cmd_servo_parsed(void * parsed_result, void *data)
{
struct cmd_servo_result *res = parsed_result;
- uint8_t i;
(void)data;
@@ -1335,11 +1334,7 @@ static void cmd_servo_parsed(void * parsed_result, void *data)
spi_servo_set_ppm(!!res->val);
}
else if (!strcmp_P(res->arg1, PSTR("show"))) {
- for (i = 0; i < 6; i++)
- printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
- printf_P(PSTR("bypass=%d ppm=%d\n"),
- spi_servo_get_bypass(), spi_servo_get_ppm());
- printf_P(PSTR("\r\n"));
+ spi_servo_dump();
}
}
@@ -1444,10 +1439,9 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
spi_servo_set(i, val);
wait_ms(wait_time);
-
- for (i = 0; i < 6; i++)
- printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
- printf_P(PSTR("\r\n"));
+ printf_P(PSTR("%4.4d %4.4d %4.4d %4.4d %4.4d %4.4d\r\n"),
+ spi_servo_get(0), spi_servo_get(1), spi_servo_get(2),
+ spi_servo_get(3), spi_servo_get(4), spi_servo_get(5));
}
printf_P(PSTR("bypass mode, with spi commands in background\r\n"));
@@ -1470,10 +1464,9 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
spi_servo_set(i, val);
wait_ms(wait_time);
-
- for (i = 0; i < 6; i++)
- printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
- printf_P(PSTR("\r\n"));
+ printf_P(PSTR("%4.4d %4.4d %4.4d %4.4d %4.4d %4.4d\r\n"),
+ spi_servo_get(0), spi_servo_get(1), spi_servo_get(2),
+ spi_servo_get(3), spi_servo_get(4), spi_servo_get(5));
}
printf_P(PSTR("PPM to servo\r\n"));
diff --git a/spi_servo.c b/spi_servo.c
index c4fe318..4b0d241 100644
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -255,3 +255,14 @@ void spi_servo_set_ppm(uint8_t enable)
spi_servo_tx.cmd_mask |= (1 << N_SERVO);
IRQ_UNLOCK(flags);
}
+
+void spi_servo_dump(void)
+{
+ uint8_t i;
+
+ for (i = 0; i < N_SERVO; i++)
+ printf_P(PSTR("%d: rx=%4.4d tx=%4.4d\r\n"), i,
+ spi_servo_get(i), spi_servo_tx.servo[i]);
+ printf_P(PSTR("bypass=%d ppm=%d\n"),
+ spi_servo_get_bypass(), spi_servo_get_ppm());
+}
diff --git a/spi_servo.h b/spi_servo.h
index 895df3a..95449c5 100644
--- a/spi_servo.h
+++ b/spi_servo.h
@@ -7,3 +7,4 @@ void spi_servo_set_bypass(uint8_t enable);
void spi_servo_set_ppm(uint8_t enable);
uint8_t spi_servo_get_bypass(void);
uint8_t spi_servo_get_ppm(void);
+void spi_servo_dump(void);
--
2.39.5